Implicit MPC approach implements the MPC policy by developing an efficient numerical scheme for solving the optimization program.
This is perhaps the most common approach of implementing a MPC policy.
Efficient implicit MPC controller often depends on custom optimization solvers that leverage structures specific to the problems they solve, such as [1]}, [2]}.
Implementation of such implicit MPC is usually done in a low-level programming language such as C [3]}, [4]}.
Despite of being computationally expensive, recent development in algorithms and hardware enables some implicit MPC controllers to achieve high-frequency performance of approximately 1000 Hz [5]}, [6]}.
